CN108310684A - A kind of image guided radiation therapy equipment - Google Patents
A kind of image guided radiation therapy equipment Download PDFInfo
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- CN108310684A CN108310684A CN201810321113.XA CN201810321113A CN108310684A CN 108310684 A CN108310684 A CN 108310684A CN 201810321113 A CN201810321113 A CN 201810321113A CN 108310684 A CN108310684 A CN 108310684A
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- 238000002786 image-guided radiation therapy Methods 0.000 title claims abstract description 21
- 238000003384 imaging method Methods 0.000 claims abstract description 166
- 238000001959 radiotherapy Methods 0.000 claims abstract description 47
- 206010028980 Neoplasm Diseases 0.000 description 15
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 230000005855 radiation Effects 0.000 description 4
- 230000002285 radioactive effect Effects 0.000 description 3
- 230000001225 therapeutic effect Effects 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 208000004064 acoustic neuroma Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000002626 targeted therapy Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
- A61N5/1065—Beam adjustment
- A61N5/1067—Beam adjustment in real time, i.e. during treatment
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- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
The embodiment of the invention discloses a kind of image guided radiation therapy equipment, which includes：Annular framework, radiotherapy head, strip imaging source and strip imager, wherein annular framework can be around center axis rotation；Radiotherapy head is set on the annular framework, for from sending out treatment beam；Strip imaging source includes multiple sub- imaging sources, can send out imaging beam respectively, and the multiple sub- imaging source is disposed in proximity to the position of the radiotherapy head along first direction；Strip imager is set to the offside of the strip imaging source along the second direction intersected with the first direction, for receiving the imaging beam across patient's affected part, and converts the imaging beam to three-dimensional imaging signal to generate the 3-D view of patient's affected part.
Description
Technical field
The present invention relates to radiation therapy technology field more particularly to a kind of image guided radiation therapy equipment.
Background technology
Image guided radiation therapy (Image Guided Radiation Therapy, IGRT) technology passes through imaging device
Patient target area is positioned before the treatment, carries out real time location tracking in the treatment, realizes the precise radiotherapy to tumour,
Reduce the damage to tumour normal surrounding tissue and critical organ.
Fig. 1 is a kind of traditional image guided radiation therapy equipment, as shown in Figure 1, the radiotherapy equipment includes can be around
The annular framework of center axis rotation, the radiotherapy head (such as multi-source focusing therapy head) being set on the annular framework and at
As device.Wherein, radiotherapy head is used to send out treatment beam and is carried out to the tumor target A (target area A is located at central shaft) of patient
Radiotherapy, imaging device are made of the imaging source and imager being oppositely arranged, and are in 90 degree with radiotherapy head, for annular
The two dimensional image that rack is rotated in different rotation angle generation taper imaging beams, acquisition includes tumor target A.
When carrying out image guided radiation therapy using traditional image guided radiation therapy equipment, imaging device is such as being schemed
Position shown in 1 can collect the tumor target about plane where y-axis and z-axis in the two dimensional image of position A, and the two dimension
Image can not reflect tumour in the position offset of x-axis direction, such as tumor target is displaced to position A ' from position A, therefore, at
As device needs to rotate a certain angle under the drive of annular framework, and in the case where acquiring the angle tumor target two dimensional image
Later, image guided radiation therapy equipment is rebuild the multiple two dimensional images got to obtain 3-D view, then will be three-dimensional
Image is registrated to obtain the position offset of patient tumors target area with the 3-D view in treatment plan, finally according to the tumor target
The position offset in area adjusts therapeutic bed so that the treatment beam that radiotherapy hair goes out hits tumor target.
However, the two dimensional image for obtaining tumor target in certain angle from imaging device obtains patient to reconstruction, registration and swells
During the position offset of tumor target area, the position of the tumor target of patient may shift again, for example, from position A ' to
A certain position between position A and A ', in this way, it is not current cancer target area to result in the position of radiotherapy head treatment beam hit
The precision of the position at place, radiotherapy is not high.
Invention content
In order to solve the above technical problem, the present invention provides a kind of image guided radiation therapy equipment, can be real-time
It tracks the position offset of tumor target and radiotherapy is carried out according to position offset guided radiation treatment head, solve the relevant technologies
The not high problem of middle radiotherapy precision.
In order to reach the purpose of the present invention, an embodiment of the present invention provides a kind of image guided radiation therapy equipment, including：
Annular framework, can be around center axis rotation；Radiotherapy head is set on the annular framework, for from sending out treatment beam；Strip
Imaging source, including multiple sub- imaging sources, can send out imaging beam respectively, and the multiple sub- imaging source is disposed in proximity to along first direction
The position of the radiotherapy head；Strip imager is set to the offside of the strip imaging source, for receiving in a second direction
Three-dimensional imaging signal is converted into generate the graphics of patient's affected part across the imaging beam of patient's affected part, and by the imaging beam
Picture, wherein the second direction intersects with the first direction.
In one embodiment, the multiple sub- imaging source is disposed in proximity to the position of the radiotherapy head along first direction
Including：Along the imaging beam for treating beam center axis and multiple sub- imaging sources along first direction setting of the radiotherapy head
Angle between mandrel is less than or equal to default angle.
In one embodiment, in the strip imaging source between two sub- imaging sources that the first direction is disposed adjacent
Distance be less than or equal to preset value.
In one embodiment, the first direction is the central axis direction of the annular framework, and the second direction is institute
State the circumferential direction of annular framework；Alternatively, the first direction is the circumferential direction of the annular framework, the second direction is
The central axis direction of the annular framework.
In one embodiment, the annular framework includes along central axis direction：First end face and second end face；Along the ring
The strip imaging source of the circumferential direction setting of shape rack either first end face of the strip imager away from the annular framework or the
The distance of biend is pre-determined distance.
In one embodiment, it is along the strip imaging source or strip imager of the setting of the circumferential direction of the annular framework
Arc.
In one embodiment, the strip imager is single row detector or multi-detector.
In one embodiment, the strip imaging source includes at least two groups strip imaging source, at least two groups strip at
The imaging beam that image source is sent out is received by same strip imager, or is received respectively by different strip imagers.
In one embodiment, in the case that the strip imaging source includes two groups of strip imaging sources, two groups of strips at
Image source is relatively arranged on the both sides of the radiotherapy head.
In one embodiment, further include：Patient support device is used to support the patient；Processing unit, for receiving
It states the three-dimensional imaging signal of strip imager transmission and generates the 3-D view of patient's affected part, and according to the 3-D view tune
The whole patient support device.
Compared with prior art, the image guided radiation therapy equipment in the embodiment of the present invention, including：Annular framework, if
Radiotherapy head, strip imaging source and the strip imager being placed on the annular framework, wherein annular framework can be around central shaft
Rotation；Radiotherapy head is used for from sending out treatment beam；Strip imaging source includes multiple sub- imaging sources, can send out imaging beam respectively,
The multiple sub- imaging source is disposed in proximity to the position of the radiotherapy head along first direction；Strip imager, along with it is described
The second direction of first direction intersection is set to the offside of the strip imaging source, for receiving the imaging across patient's affected part
Beam, and the imaging beam is converted to three-dimensional imaging signal to generate the 3-D view of patient's affected part.Since strip imaging source leans on
Nearly radiotherapy head is arranged and the imaging beam sent out can be eventually converted into 3-D view, and therefore, which controls
Treatment equipment does not need strip imaging source and strip imager rotates by a certain angle with annular framework, also need not be under different angle
The two dimensional image of acquisition is handled, so that it may with the real-time 3-D view for generating the position offset for reflecting patient's affected part, in time
The beam that guided radiation treatment hair goes out accurately hits patient's affected part, improves the precision of radiotherapy.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages can be by specification, rights
Specifically noted structure is realized and is obtained in claim and attached drawing.
Description of the drawings
Attached drawing is used for providing further understanding technical solution of the present invention, and a part for constitution instruction, with this
The embodiment of application technical solution for explaining the present invention together, does not constitute the limitation to technical solution of the present invention.
Fig. 1 is a kind of structural schematic diagram of traditional image guided radiation therapy equipment；
Fig. 2 is a kind of structural schematic diagram of image guided radiation therapy equipment provided in an embodiment of the present invention；
Fig. 3 is the comparison diagram that the two neighboring sub- imaging source of the embodiment of the present invention has different distance；
Fig. 4 A and 4B are the position relationship schematic diagram of strip imaging source and radiotherapy head in the embodiment of the present invention；
Fig. 5 A and 5B are two kinds of set-up mode schematic diagrames of strip imaging source and strip imager in the embodiment of the present invention；
Fig. 6 structures with the image guided radiation therapy equipment of two groups of strip imaging sources provided in an embodiment of the present invention are shown
It is intended to；
Fig. 7 image guided radiation therapy equipment provided in an embodiment of the present invention for including patient support device and processing unit
Structural schematic diagram.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention
Embodiment be described in detail.It should be noted that in the absence of conflict, in the embodiment and embodiment in the application
Feature mutually can arbitrarily combine.
Fig. 2 is a kind of structural schematic diagram of image guided radiation therapy equipment provided in an embodiment of the present invention, such as Fig. 2 institutes
Show, which includes：Annular framework 11, radiotherapy head 12, strip imaging source 13 and strip imaging
Device 14, wherein annular framework 11 can be rotated around central shaft CA；Radiotherapy head 12 is set on the annular framework 11, is used for
Send out treatment beam；Strip imaging source 13 includes multiple sub- imaging sources 131 ..., and 13i ..., 13n, i is more than or equal to 1 and is less than or equal to
The integer of n, n are the integer more than 1, and multiple sub- imaging sources 131 ..., 13i ..., 13n can send out imaging beam respectively, the multiple
Sub- imaging source 131 ..., 13i ..., 13n are disposed in proximity to the position of the radiotherapy head 12 along first direction S1；Strip at
As device 14 is set to along the second direction S2 intersected with the first direction S1 the offside of the strip imaging source 13, for receiving
Three-dimensional imaging signal is converted into generate the graphics of patient's affected part across the imaging beam of patient's affected part, and by the imaging beam
Picture.
When stating image guided radiation therapy equipment progress radiotherapy in use, it is disposed in proximity to put along first direction S1
Multiple sub- imaging sources 131 ... in the strip imaging source 13 for the treatment of head 12 are penetrated, 13i ..., 13n are sequentially or simultaneously sent out multiple
Imaging beam, here, the imaging beam that each imaging beam is sent out towards strip imager 14 can be inclined tetragonous cone-beam, and multiple imaging beams are worn
It crosses and is located at patient's affected part, connect in real time by the strip imager 14 along the second direction S2 settings intersected with the first direction S1
It receives, strip imager 14 converts the imaging beam received to three-dimensional imaging signal.Finally by including above-mentioned strip imaging source 13
With the imaging device of strip imager 14 itself or the processing unit being connected with strip imager 14 quickly according to above-mentioned three
The 3-D view that imaging signal generates current patents' affected part is tieed up, and the 3-D view can accurately reflect the generation of patient's affected part
Offset, patient's affected part is accurately hit with the treatment beam that guiding in real time radiotherapy head 12 is sent out.Compared with the relevant technologies, the image
Guided radiation treatment equipment can generate the 3-D view and guided radiation treatment of the position offset for reflecting patient's affected part in real time
First 12 pairs of patient's affected parts carry out radiotherapy, reduce the time of image procossing, improve the real-time of image guiding, Jin Erti
The high precision of radiotherapy.
For strip imaging source 13, as shown in Fig. 2, multiple sub- imaging sources 131 ... in strip imaging source 13,13i ...,
13n can be single, linear arrangement, certainly, multiple sub- imaging sources 131 ... in strip imaging source 13,13i ..., 13n
Can be multiple rows of, illustratively, strip imaging source 13 is arranged for N, and N is more than 1 and the integer less than n/N.For with strip at
The strip imager 14 that image source 13 is oppositely arranged, it can be single row detector, or multi-detector.
On the one hand, no matter 13 neutron imaging source 131 ... of strip imaging source, 13i ..., 13n be it is single or multiple rows of, it is described
It is small along the distance between the two neighboring sub- imaging source 13i and 13 (i+1) of first direction S1 settings in strip imaging source 13
In equal to preset value.In this way, with adjacent sub- imaging source 13i and 13 (i+1) have larger spacing set-up mode compared with, it is adjacent at
Crosspoint between video beam has larger areas imaging closer to strip imaging source 13.It is exemplary, as shown in figure 3, when adjacent
When the distance between two sub- imaging source 13i and sub- imaging source 13 (i+1) they are d, sub- imaging source 13i and sub- imaging source 13 (i+1)
Imaging beam crosspoint be A；Group imaging source 13i and adjacent sub- imaging source 13 (i+1) ' the distance between be more than for d ' and d '
When d, sub- imaging source 13i and sub- imaging source 13 (i+1) ' imaging beam crosspoint be B, from the figure 3, it may be seen that the water where the B of crosspoint
Horizontal line is further from strip imaging source 13, due to sub- imaging source 13i and sub- imaging source 13 (i+1) ' imaging beam do not pass through A where
Therefore shaded side between horizontal line and the places B horizontal line has larger spacing in adjacent sub- imaging source 13i and 13 (i+1)
Under set-up mode, the imaging of shaded side can not be acquired, and areas imaging is smaller.
On the other hand, no matter 13 neutron imaging source 131 ... of strip imaging source, 13i ..., 13n be it is single or multiple rows of, such as
Shown in Fig. 1, the position that the multiple sub- imaging source is disposed in proximity to the radiotherapy head 12 along first direction S1 includes：It is described
The imaging beam central shaft of the treatment beam center axis of radiotherapy head 12 and multiple sub- imaging sources along first direction S1 settings
Between angle be less than or equal to default angle.Here default angle can be set as needed.Certainly, default angle is got over
It is small better, ideally, in the treatment beam center axis of the radiotherapy head 12 and the strip imaging source 13 multiple sons at
Angle between the imaging beam central shaft of image source is 0, still, the imaging beam that strip imaging source 13 is sent out and radiotherapy head 12
It can be interfered with each other between the treatment beam sent out, therefore, in the case where not interfered with each other between ensureing them, predetermined angle is smaller
Better.
What needs to be explained here is that as shown in Figure 4 A, it is more if radiotherapy head 12, which is multi-source, focuses radiotherapy head 121
The treatment beam that a radioactive source is sent out focuses on intersection point T, then treats the central shaft that beam center axis is the volume that multiple treatment beams are formed
C1, central shaft C1 pass through intersection point；As shown in Figure 4 B, if radiotherapy head 12 is suitable type intensity modulated therapy head 122, radioactive source is sent out
Treatment beam collimator it is conformal after irradiate patient's affected part, then treat beam center axis be it is multiple treatment beams formed volumes centers
Axis C1 ', central shaft C1 ' pass through radioactive source point.And the imaging beam central shaft CA of sub- imaging source is strip imaging source 13
The line axis C2 of central point and the central point of strip imager 14.
Again as shown in Fig. 2, second direction S2 intersects in space with the first direction S1S1, here, intersection
Mode is including but not limited to orthogonal.More detailed, the first direction S1 is the directions central shaft CA of the annular framework 11,
I.e. first direction S1 is parallel with the directions central shaft CA of annular framework 11；The second direction S2 is the week of the annular framework 11
To direction；Alternatively, the first direction S1 is the circumferential direction of the annular framework 11, the second direction S2 is the annular
The directions central shaft CA of rack 11.
By foregoing description it is found that strip imaging source 13 intersects with the setting direction of strip imager 14, strip at
When image source 13 is arranged along the directions central shaft CA, strip imager 14 is arranged along circumferential direction, opposite, strip imaging source 13 is along week
When being arranged to direction, strip imager 14 is arranged along the directions central shaft CA.
What needs to be explained here is that above-mentioned strip imaging source 13 can be horizontal strip imaging source as shown in Figure 2, also may be used
Think arc strip imaging source, correspondingly, above-mentioned strip imager 14 can be flat panel detector as shown in Figure 2, it can also
For curved detector.In one embodiment, along the strip imaging source 13 or item of the setting of the circumferential direction of the annular framework 11
Shape imager 14 is arc.
With continued reference to Fig. 2, the annular framework 11 includes along the directions central shaft CA：First end face 111 and second end face
112；The strip imaging source 13 or strip imager 14 being arranged along the circumferential direction of the annular framework 11 are away from the annular machine
The first end face 111 of frame 11 or the distance of second end face 112 are pre-determined distance.Here pre-determined distance can be 0, i.e., along institute
State the circumferential direction setting of annular framework 11 strip imaging source 13 or strip imager 14 close to the annular framework 11
First end face 111 or second end face 112 are arranged, and certainly, pre-determined distance can not also be 0, can be set as needed.
In foregoing description, strip imaging source 13 be one group, however, the strip imaging source 13 include at least two groups strip at
Image source, the strip imager 14 being oppositely arranged can receive the imaging beam that at least two groups strip imaging source is sent out；Show
Example property, as shown in Figure 5A, the strip imaging source 13 are divided to for two groups of strips imaging source 13A and 13B, and strip imager 14 is simultaneously
Receive the imaging beam that two groups of strip imaging sources 13A and 13B are sent out；Alternatively, the strip imaging source 13 includes at least two groups strip
Imaging source, correspondingly, the strip imager 14 also includes at least two groups strip imager, wherein one group of imager receives one
The imaging beam that group imaging source is sent out；Illustratively, as shown in Figure 5 B, strip imaging source 13 include two groups of strip imaging source 13A and
13B, strip imager 14 also include two groups of strips imager 14A and 14B, and imager 14A receives the imaging that imaging source 13A is sent out
Beam, imager 14B receive the imaging beam that imaging source 13B is sent out.
As shown in fig. 6, in the case that the strip imaging source 13 includes two groups of strip imaging sources 13, two groups of strips at
Image source 13 is relatively arranged on the both sides of the radiotherapy head 12.
As shown in fig. 7, image guided radiation therapy equipment further includes：Patient support device 15 and processing unit 16, wherein
Patient support device 15 is used to support the patient；Processing unit 16 be used to receive the strip imager 14 sends it is three-dimensional at
As signal and the 3-D view of patient's affected part is generated, and the patient support device 15 is adjusted according to the 3-D view.
What needs to be explained here is that patient support device other can be used to support patient for therapeutic bed, treatment seat etc.
Device, processing unit can be the processing equipment with processing function such as computer, server.
Although disclosed herein embodiment it is as above, the content only for ease of understanding the present invention and use
Embodiment is not limited to the present invention.Technical staff in any fields of the present invention is taken off not departing from the present invention
Under the premise of the spirit and scope of dew, any modification and variation, but the present invention can be carried out in the form and details of implementation
Scope of patent protection, still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of image guided radiation therapy equipment, which is characterized in that including：
Annular framework, can be around center axis rotation；
Radiotherapy head is set on the annular framework, for from sending out treatment beam；
Strip imaging source, including multiple sub- imaging sources, can send out imaging beam respectively, and the multiple sub- imaging source is set along first direction
It is disposed adjacent to the position of the radiotherapy head；
Strip imager is set to the offside of the strip imaging source in a second direction, for receive across patient's affected part at
Video beam, and the imaging beam is converted to three-dimensional imaging signal to generate the 3-D view of patient's affected part, wherein the second party
Intersect to the first direction.
2. equipment according to claim 1, which is characterized in that the multiple sub- imaging source is disposed in proximity to along first direction
The position of the radiotherapy head includes：The radiotherapy head treats beam center axis and along the more of first direction setting
Angle between the imaging beam central shaft of a sub- imaging source is less than or equal to default angle.
3. equipment according to claim 1, which is characterized in that set in the strip imaging source along the first direction is adjacent
The distance between two sub- imaging sources set are less than or equal to preset value.
4. equipment according to claim 1, which is characterized in that the first direction is the central shaft side of the annular framework
To the second direction is the circumferential direction of the annular framework；Alternatively, the first direction is the circumferential direction of the annular framework
Direction, the second direction are the central axis direction of the annular framework.
5. equipment according to claim 4, which is characterized in that the annular framework includes along central axis direction：First end
Face and second end face；The strip imaging source or strip imager being arranged along the circumferential direction of the annular framework are away from the annular
The first end face of rack or the distance of second end face are pre-determined distance.
6. radiotherapy equipment according to claim 4, which is characterized in that the circumferential direction along the annular framework is arranged
Strip imaging source or strip imager be arc.
7. equipment according to claim 1, which is characterized in that the strip imager is single row detector or multiple rows of spy
Survey device.
8. equipment according to claim 1, which is characterized in that the strip imaging source includes the imaging of at least two groups strip
Source, the imaging beam that at least two groups strip imaging source is sent out are received by same strip imager, or respectively by different items
Shape imager receives.
9. equipment according to claim 8, which is characterized in that the strip imaging source includes the feelings of two groups of strip imaging sources
Under condition, two groups of strip imaging sources are relatively arranged on the both sides of the radiotherapy head.
10. equipment according to claim 1, which is characterized in that further include：
Patient support device is used to support the patient；
Processing unit, for receiving the three-dimensional imaging signal and the graphics for generating patient's affected part that the strip imager is sent
Picture, and the patient support device is adjusted according to the 3-D view.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810321113.XA CN108310684A (en) | 2018-04-11 | 2018-04-11 | A kind of image guided radiation therapy equipment |
| PCT/CN2019/081680 WO2019196767A1 (en) | 2018-04-11 | 2019-04-08 | Image-guided radiotherapy device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810321113.XA CN108310684A (en) | 2018-04-11 | 2018-04-11 | A kind of image guided radiation therapy equipment |
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| CN108310684A true CN108310684A (en) | 2018-07-24 |
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| CN201810321113.XA Pending CN108310684A (en) | 2018-04-11 | 2018-04-11 | A kind of image guided radiation therapy equipment |
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| WO (1) | WO2019196767A1 (en) |
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| CN108635687A (en) * | 2018-08-24 | 2018-10-12 | 西安大医集团有限公司 | A kind of radiotherapy equipment |
| WO2019196767A1 (en) * | 2018-04-11 | 2019-10-17 | 西安大医集团有限公司 | Image-guided radiotherapy device |
| WO2020038224A1 (en) * | 2018-08-24 | 2020-02-27 | 西安大医集团有限公司 | Source carrier, radiotherapy equipment, and control driving method therefor |
| CN114681822A (en) * | 2022-03-24 | 2022-07-01 | 上海联影医疗科技股份有限公司 | Image guided therapy structures, methods, devices and systems |
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